CN110651569B - Ground wheel driving force monitoring system of precision planter - Google Patents
Ground wheel driving force monitoring system of precision planter Download PDFInfo
- Publication number
- CN110651569B CN110651569B CN201910975410.0A CN201910975410A CN110651569B CN 110651569 B CN110651569 B CN 110651569B CN 201910975410 A CN201910975410 A CN 201910975410A CN 110651569 B CN110651569 B CN 110651569B
- Authority
- CN
- China
- Prior art keywords
- land wheel
- controller
- torque
- direct current
- seeder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 239000006247 magnetic powder Substances 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 238000010899 nucleation Methods 0.000 claims abstract description 23
- 239000010902 straw Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 239000003337 fertilizer Substances 0.000 abstract description 17
- 238000012360 testing method Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 3
- 238000009331 sowing Methods 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 description 4
- 239000000178 monomer Substances 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000003971 tillage Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Sowing (AREA)
Abstract
The invention discloses a ground wheel driving force monitoring system of a precision seeder, which can monitor the running state of a ground wheel, provide driving force in time when the driving force of the ground wheel is insufficient, provide important guarantee for the seeding accuracy of the precision seeder and provide data support for the subsequent ground wheel design aiming at the defects of the existing ground wheel transmission and driving torque testing method of the seeder. The invention comprises a speed sensor, a torque sensor, a magnetic powder brake, a direct current motor, a GPS module, a controller, a display device, an alarm device and a remote server, wherein the driving force of a seed sowing device and a fertilizer distributor is driven by a land wheel in the working process of the seeder.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery test, and particularly relates to a ground wheel driving force monitoring system of a precision seeder.
Background
Sowing is an important link in agricultural production and directly influences crop yield. At present, the seeder in China is mainly driven by a land wheel, and a chain is driven by a chain wheel to transmit power to a fertilizer discharging shaft and a seed discharging shaft so as to carry out fertilizer discharging and seed discharging operations. When the seeder is used in fields, the seeder needs to walk on a soft ground surface or a ground surface covered by straws and stubble, the stability of the ground wheel transmission directly influences the working performance and the operation effect of the seeder, the ground wheel with unreasonable size and structure can greatly increase the slip rate of the ground wheel, the missed seeding and even the broken strips are caused, and the requirement on the stability of the ground wheel transmission is higher when the seeder is used for precise seeding operation.
With the popularization of high-horsepower tractors, the number of large machines and tools is increasing, and land wheels are required to provide larger driving force to ensure the smooth operation of seeding. Most of the current land wheel designs are roughly estimated according to experience, actual driving force of the land wheel cannot be specifically calculated, and data can be obtained only by means of experiments. Generally, an instrument for measuring torque is mostly used for an indoor test bed, but the environment of the seeder during field operation is more complicated and changeable, and a system for monitoring the driving torque of a ground wheel of the seeder is necessary to be designed in order to ensure the reliability of test data.
Disclosure of Invention
Aiming at the defects of the prior method for testing the transmission and the driving torque of the land wheel of the seeder, the invention provides a system for monitoring the driving force of the land wheel of the precision seeder, which monitors the running state of the land wheel, provides the driving force in time when the driving force of the land wheel is insufficient, provides important guarantee for the seeding accuracy of the precision seeder and provides data support for the subsequent land wheel design.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a monitoring system for the driving force of a land wheel of a precision seeder comprises a speed sensor, a torque sensor, a magnetic powder brake, a direct current motor, a GPS module, a controller, a display device, an alarm device and a remote server; the power output shaft of the direct current motor is connected with a land wheel and land wheel shaft of the seeder through a magnetic powder brake; the speed sensor is arranged on the land wheel and is used for acquiring the instantaneous speed of the land wheel; the torque sensor is arranged on the land wheel shaft and used for collecting the torque of the transmission shaft; the GPS module is arranged on the seeder and is used for monitoring the movement data of the seeder and the implement in real time; the display device and the alarm device are both arranged in the cab; the controller is respectively in communication connection with the speed sensor, the torque sensor, the GPS module, the direct current motor, the display device, the alarm device and the remote server.
Further, the display device is an LCD display.
Further, the controller is connected with the direct current motor through a motor driver.
Further, the controller is connected with a remote server through a GPRS module.
Further, the speed sensor sends the speed information of the land wheel to the controller, when the land wheel does not slip or the driving force is insufficient, the magnetic powder brake is in a disconnected state, and the direct current motor does not participate in the driving of the land wheel; when the land wheel slips or the driving force is insufficient, the controller outputs the land wheel speed and the transmission shaft torque information to the display device for displaying; the controller sends a braking measure instruction and a direct current motor driving instruction, the magnetic powder brake takes a braking measure under the command of the braking measure instruction, so that the direct current motor is connected with the land wheel, and the direct current motor rotates at a fixed rotating speed under the control of the direct current motor driving instruction of the controller; when the seeder walks on a soft ground surface or a ground surface covered by straws and stubble, large torque output is needed, the torque sensor transmits torque information to the controller, the controller issues a motor large torque output instruction, and the direct current motor works according to the instruction and decelerates to the lowest set speed.
Furthermore, when the seeder starts to operate, the torque sensor starts to acquire the torque of the transmission shaft, when the torque is smaller than a set threshold value, the slip phenomenon of the land wheel is shown, and the controller outputs PWM to control the direct current motor according to the insufficient torque so as to drive the transmission shaft to work; the speed sensor starts to generate pulses, the controller calculates the pulse number in unit time to obtain the advancing distance L of the land wheel, the advancing distance S of the machine tool is obtained through the GPS module, and the slip rate in unit time is obtained through a formula:
calculating to obtain; when the slip rate is greater than a set threshold value, the controller sends an instruction to control the alarm device to give an alarm; after the operation is finished, the operation data of the machine tool is sent to the remote server through the GPRS module, and the data are stored and analyzed. The working process of the ground wheel driving force monitoring system of the precision seeder comprises the following steps:
firstly, before seeding, implement inspection in earlier stage is carried out, integrity of a test system is mainly detected, whether a land wheel is blocked or not, whether the implement is cleaned completely or not, whether battery electric quantity is sufficient or not, seed metering conditions of a seed metering device, fertilizer quantity adjustment of a fertilizer distributor, operation conditions of a soil covering device of a furrow opener, operation conditions of a tractor and the like are detected, the land wheel is in a normal road walking state at the moment, seed fertilizer is added after the inspection is finished, a tractor driver enters a cab to set a driving speed range (namely seeding speed of the seeder) after the addition is finished, a monitoring system is started at the moment, and the monitoring system enters a preparation stage to prepare for seeding.
Secondly, in sowing, starting a tractor, releasing a lower pull rod of the tractor by a driver, enabling a land wheel to enter a field working state, starting to detect the walking distance of the tractor by a GPS system, enabling a speed sensor and a torque sensor to be in a preparation state, and enabling an STM32 control system to start receiving GPS signals and carrying out distance test in unit time; when the speed tends to be stable, the GPS system detects that the running distance in unit time is unchanged, the STM32 starts to issue an instruction, and the system starts to test; when the land wheel 5 slips or has insufficient driving force, the speed sensor transmits information to the STM32 control system, the control system receives the information and outputs the information to an alarm device in a cab, and the real-time situation of insufficient driving force is displayed, so that a driver can take corresponding driving adjustment measures; meanwhile, a control system adopts a braking measure command and a direct current motor driving command, a magnetic powder brake I7 and a magnetic powder brake II 8 adopt a braking measure under the command of the braking measure command, the connection is carried out, so that the direct current motor is connected with a land wheel, a direct current motor 10 rotates at a fixed rotating speed under the command of the direct current motor driving command of the control system, large-torque output is needed when the vehicle walks on a soft ground surface or a ground surface covered by straws and stubbles, a torque sensor transmits torque information to an STM32 control system, the control system issues a motor large-torque output command, and the direct current motor 10 performs related commands to work; when the driving force is insufficient in a large area, the alarm device provides reliable real-time alarm to show that the phenomenon of miss-seeding in a large area occurs. When the land wheel 5 does not have the condition, the speed which is not measured by the speed sensor 7 is changed in a strong fluctuation mode, the driving force meets the precision seeding requirement of the seeder, the direct current motor stops rotating, the magnetic powder brake I7 and the magnetic powder brake II 8 are in an off state, further damage of land wheel impact force to the motor 10 is prevented, and the alarm system does not work. In the process, the measurement and control system judges and processes relative signals according to the GPS real-time monitoring condition every time the tractor turns.
And thirdly, after seeding is finished, the driver lifts up the upper and lower pull rods of the tractor, the seeding machine stops working, and the monitoring system enters a standby state and can be automatically closed by the driver.
Description of the drawings:
FIG. 1 is a schematic view of a mechanical structure of a monitoring system for the driving force of a land wheel of a precision seeder
FIG. 2 is a front view of a no-tillage planter structure with a ground wheel driving force monitoring system of a precision planter
FIG. 3 is a side view of a no-tillage planter structure with a monitoring system for the driving force of a land wheel of a precision planter
FIG. 4 is a block diagram showing the construction of a system for monitoring the driving force of a land wheel of a precision seeder
FIG. 5 is a control schematic block diagram of a ground wheel driving force monitoring system of a precision planter
In the figure: 1. transmission shaft 2, a seeder supporting beam 3, a land wheel connecting seat 4, a transmission chain 5, a land wheel 6, a fixed beam 7, a magnetic powder brake I8, a magnetic powder brake II 9, a torque sensor 10, a direct current motor 11, a fertilizer box 12, a fertilizer distributor driving shaft 13, a fertilizer distributor 14, a seeder monomer 15, a driven land wheel 16, a seed distributor monomer 17 and a speed sensor
Detailed Description
The technical scheme of the invention is described in detail in the following with reference to the attached drawings:
a monitoring system for the driving force of a land wheel of a precision seeder mainly comprises the land wheel, a speed sensor 17, a torque sensor 9, a magnetic powder brake I7, a magnetic powder brake II 8, a direct current motor 10, an STM32 controller, an LCD display, an alarm device, a remote server and the like.
As shown in fig. 1, 2, 3 and 4, a ground wheel driving force monitoring system of a precision seeder is composed of a mechanical part and an electrical part, wherein the mechanical part mainly comprises a transmission shaft 1, a seeder supporting beam 2, a ground wheel connecting seat 3, a transmission chain 4, a driving ground wheel 5, a fixed beam 6, a magnetic powder brake I7, a magnetic powder brake II 8, a torque sensor 9, a direct current motor 10, a fertilizer box 11, a fertilizer apparatus driving shaft 12, a fertilizer apparatus 13, a seeder unit 14, a driven ground wheel 15, a seed metering unit 16, a speed sensor 17 and the like; the electric part mainly comprises a torque sensor 9, an encoder, a GPS module, an STM32 controller, an alarm device, an LCD display, a GPRS module, a remote server and the like.
The driving land wheel 5 is connected with a magnetic powder brake I7 through a land wheel shaft, the magnetic powder brake II 8 is connected with a power output shaft of the direct current motor 10, and the direct current motor 10 is connected with and disconnected from the land wheel through the magnetic powder brake I7 and the magnetic powder brake II 8. The direct current motor is a 24V direct current servo motor, and the adjustable rotating speed range is 10-500 r/min. The speed sensor 17 is arranged on the land wheel and is used for acquiring the instantaneous speed of the land wheel; the torque sensor 9 is arranged on the land wheel shaft and positioned at the side part of the magnetic powder brake and used for collecting the torque of the transmission shaft 1; the LCD display is arranged in the cab; the GPS module is installed on the seeder machines for real-time supervision machines remove data, and torque sensor 9, speedtransmitter 17, GPS module, LCD display and alarm device all are connected with STM32 controller communication, and the STM32 controller passes through motor driver and direct current motor control connection, and the STM32 controller still passes through GPRS module and remote server data connection. The torque sensor 9 transmits torque data to the STM32 controller; meanwhile, the instantaneous speed of the land wheel can be monitored in real time by using the speed sensor 17 fixed on the land wheel shaft, and the distance (namely the average speed) of the machine tool in unit time can be monitored in real time by using a GPS module arranged on the machine tool.
In the seeding process of the seeding machine, under the condition that a driver presets a vehicle running speed variable range (namely seeding speed of the seeding unit), a machine tool moves forwards at a constant speed, a land wheel 5 rotates under the action of ground friction force, a seeding unit monomer is driven to perform seeding motion through a transmission chain 4 and a transmission shaft 1, and meanwhile, a fertilizer distributor driving shaft 12 drives a fertilizer distributor 13 to rotate under the transmission of the transmission shaft 1 so as to discharge fertilizer to a fertilizer discharge pipe and fall into a fertilizer ditch; the magnetic powder brake I7 and the magnetic powder brake II 8 are responsible for connecting and disconnecting the land axle and the power output shaft of the direct current motor; the torque sensor 9 on one side of the magnetic powder brake transmits torque data to the main control system; meanwhile, the instantaneous speed of the land wheel can be monitored in real time by using the speed sensor 17 fixed on the land wheel shaft, and the distance (namely the average speed) of the machine tool in unit time can be monitored in real time by using a GPS module arranged on the machine tool.
When the land wheel does not slip or the driving force is insufficient, the speed sensor 17 does not detect the strong fluctuation change of the speed, the driving force meets the precision seeding requirement of the seeder, the direct current motor 10 stops rotating, and meanwhile, the magnetic powder brake I7 and the magnetic powder brake II 8 are in a disconnected state, so that the damage of the impact force of the land wheel to the motor is prevented.
When the land wheel slips or the driving force is insufficient, the speed sensor 17 transmits information to the STM32 controller, the STM32 controller receives the information and outputs the information to an LCD display installed in a cab, and the LCD display displays the real-time situation of insufficient driving force such as speed, torque and the like so that a driver can take corresponding driving adjustment measures; meanwhile, the STM32 controller sends a braking measure command and a direct current motor driving command, the magnetic powder brake I7 and the magnetic powder brake II 8 take braking measures under the command of the braking measure command, the direct current motor is connected with the ground wheel shaft so that the direct current motor outputs driving force to the ground wheel, and the direct current motor 10 rotates at a fixed rotating speed under the control of the direct current motor driving command of the STM32 controller.
When the seeder walks on a soft ground surface or a ground surface covered by straws and stubble, large torque output is needed, the torque sensor 9 transmits torque information to the STM32 controller, the STM32 controller issues a motor large torque output instruction, and the direct current motor 10 works according to the instruction and decelerates to the lowest set speed so as to achieve the purpose of torque increase; when the driving force is insufficient in a large area, the alarm device provides reliable real-time alarm to show that the phenomenon of miss-seeding in a large area occurs.
In addition, the STM32 controller transmits the received and processed data to a remote server through a GPRS module, so that comprehensive analysis and utilization of the data are realized.
As shown in fig. 5, a control process of a ground wheel driving force monitoring system of a precision seeder is as follows: the system is electrified, the system is initialized, the GPS module, the LCD display and the like are initialized, a tractor driver sets a driving speed range (namely the seeding speed of the seeder), the monitoring test system is started at the moment, the monitoring test system enters a preparation period, and when the machine starts to operate, the torque sensor 9 assembled between the land wheel shafts starts to acquireWhen the torque of the transmission shaft 1 is smaller than a set threshold value, the slip phenomenon of the land wheel is shown, and the controller STM32 outputs PWM to control a direct current motor driver according to the insufficient torque, so that the direct current motor 10 is controlled to drive the transmission shaft to work; meanwhile, the speed sensor 17 installed on the land wheel starts to generate pulses, the controller STM32 obtains the advancing distance L of the land wheel by calculating the pulse number in unit time, the advancing distance S of the machine tool can be obtained by a GPS module installed on the machine tool, and then the slip rate in unit time can be obtained through the formula:
when the slip rate is larger than the set threshold value, an audible and visual alarm is given out in the cockpit through the alarm device to prompt a driver that a large-area miss-seeding phenomenon occurs. If the torque and the slip rate are within the set threshold values, an LCD display in the cockpit can display information such as the advancing speed, the operation area, the slip rate and the number of times of land wheel slip of the machine tool in real time, and finally after the operation is finished, the operation data of the machine tool is sent to a remote server through a GPRS module, so that the storage and analysis of the data are realized.
Claims (3)
1. A monitoring system for the driving force of a land wheel of a precision seeder is characterized by comprising a speed sensor, a torque sensor, a magnetic powder brake, a direct current motor, a GPS module, a controller, a display device, an alarm device and a remote server; the magnetic powder brake comprises a magnetic powder brake I and a magnetic powder brake II, a land wheel shaft of the land wheel of the seeder is connected with the magnetic powder brake I, the magnetic powder brake II is connected with a power output shaft of the direct current motor, and the direct current motor and the land wheel are connected and disconnected through the magnetic powder brake I and the magnetic powder brake II; the speed sensor is arranged on the land wheel and is used for acquiring the instantaneous speed of the land wheel; the torque sensor is arranged on the land wheel shaft and used for collecting the torque of the transmission shaft; the GPS module is arranged on the seeder and is used for monitoring the movement data of the seeder and the implement in real time; the display device and the alarm device are both arranged in the cab; the torque sensor, the speed sensor, the GPS module, the display device and the alarm device are all in communication connection with the controller, the controller is in control connection with the direct current motor through a motor driver, and the controller is also in data connection with the remote server through the GPRS module; the torque sensor transmits torque data to the controller, meanwhile, a speed sensor fixed on a land wheel shaft is used for monitoring the instantaneous speed of a land wheel in real time, and a GPS module arranged on a seeder tool is used for monitoring the distance of the tool in unit time in real time;
the speed sensor sends the speed information of the land wheel to the controller, when the land wheel does not slip or the driving force is insufficient, the magnetic powder brake is in a disconnected state, and the direct current motor does not participate in the driving of the land wheel; when the land wheel slips or the driving force is insufficient, the controller outputs the land wheel speed and the transmission shaft torque information to the display device for displaying; the controller sends a braking measure instruction and a direct current motor driving instruction, the magnetic powder brake takes a braking measure under the command of the braking measure instruction, so that the direct current motor is connected with the land wheel, and the direct current motor rotates at a fixed rotating speed under the control of the direct current motor driving instruction of the controller;
when the seeder walks on a soft ground surface or a ground surface covered by straws and stubble, large torque output is needed, the torque sensor transmits torque information to the controller, the controller issues a motor large torque output instruction, and the direct current motor works according to the instruction and decelerates to the lowest set speed.
2. The ground wheel driving force monitoring system of a precision seeding machine as claimed in claim 1, wherein the display device is an LCD display.
3. The system for monitoring the driving force of the land wheel of the precision seeder as claimed in claim 1, wherein when the seeder starts to operate, the torque sensor starts to collect the torque of the transmission shaft, when the torque is less than a set threshold value, the slip phenomenon of the land wheel occurs, and the controller outputs PWM to control the DC motor according to the insufficient torque to drive the transmission shaft to operate; the speed sensor starts to generate pulses, the controller calculates the number of pulses in unit time to obtain the advancing distance L of the land wheel, and the GPS module is used for obtaining the forward distance L of the machine toolThe advancing distance S, the slip rate in unit time is represented by the formula:
calculating to obtain; when the slip rate is greater than a set threshold value, the controller sends an instruction to control the alarm device to give an alarm; after the operation is finished, the operation data of the machine tool is sent to the remote server through the GPRS module, and the data are stored and analyzed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975410.0A CN110651569B (en) | 2019-10-15 | 2019-10-15 | Ground wheel driving force monitoring system of precision planter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975410.0A CN110651569B (en) | 2019-10-15 | 2019-10-15 | Ground wheel driving force monitoring system of precision planter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110651569A CN110651569A (en) | 2020-01-07 |
| CN110651569B true CN110651569B (en) | 2021-07-27 |
Family
ID=69040865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910975410.0A Expired - Fee Related CN110651569B (en) | 2019-10-15 | 2019-10-15 | Ground wheel driving force monitoring system of precision planter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110651569B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112277659B (en) * | 2020-10-26 | 2021-11-09 | 湖北省农业机械工程研究设计院 | Self-adaptive power distribution system and method for paddy field equipment |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2727486Y (en) * | 2004-08-18 | 2005-09-21 | 李金泽 | Overrunning transmission mechanism |
| CN101840211B (en) * | 2010-05-27 | 2012-09-26 | 山西农业大学 | Variable control device for fertilizing and sowing |
| CN202635077U (en) * | 2012-04-17 | 2013-01-02 | 东北林业大学 | Fully automatic paving and planting combination machine of multiline grass square lattice sand barriers |
| CN102799134A (en) * | 2012-08-23 | 2012-11-28 | 黑龙江省海轮王农机制造有限公司 | Automatic seeder control system based on dual-core embedded controller |
| CN203149368U (en) * | 2013-03-04 | 2013-08-21 | 北京农业智能装备技术研究中心 | Seeding condition monitoring equipment for corn precision seeder |
| CN103858571B (en) * | 2014-03-31 | 2016-04-06 | 中国农业大学 | Pneumatic type corn precise quatity feed run circumference motor direct-drive device and control method thereof |
| CN103994787B (en) * | 2014-04-22 | 2016-09-28 | 北京农业智能装备技术研究中心 | A kind of wheat seeder working-condition monitoring system and method |
| CN106856739A (en) * | 2015-12-11 | 2017-06-20 | 魏莹 | A kind of wheat two-wire Precision Seeding intelligence control system |
| CN105638047A (en) * | 2015-12-29 | 2016-06-08 | 安徽农业大学 | Electrically-controlled high-speed precision-seeding corn seed sowing device |
| CN105940837B (en) * | 2016-06-15 | 2018-11-20 | 罗军 | A kind of multifunctional combination dynamic formula improving fertilizer spreads fertilizer over the fields machine |
| CN206371059U (en) * | 2016-11-30 | 2017-08-04 | 山东省农业机械科学研究院 | A kind of corn no-tillage subsoiling combined seed and fertilizer drill monitoring system |
| CN107733321B (en) * | 2017-10-26 | 2020-09-25 | 江苏大学 | Monitoring system and monitoring method for seeder |
| CN108668546A (en) * | 2018-03-30 | 2018-10-19 | 安徽省农业科学院水稻研究所 | A kind of accurate synchronous sowing（Fertilising）Device |
| CN208590238U (en) * | 2018-07-18 | 2019-03-12 | 石家庄市舜农农业机械有限公司 | A kind of seeder electric-control system |
| CN109757158A (en) * | 2019-04-03 | 2019-05-17 | 洛阳智能农业装备研究院有限公司 | A kind of electricity based on precision seeder controls arithmetic system and operation method processed |
-
2019
- 2019-10-15 CN CN201910975410.0A patent/CN110651569B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN110651569A (en) | 2020-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107182385B (en) | Smart smart volume maize seeding monomer | |
| CN205755411U (en) | Centrifugal small particle seed precision planter | |
| CN104793552A (en) | Intelligent deep-loosening soil preparation operation quality monitoring system | |
| WO2012119867A1 (en) | System and method for calibrating an agricultural product metering system | |
| CN104704953A (en) | Reseeding type potato seeding machine | |
| CN105815006B (en) | Centrifugal small particle seed precision planter and its sowing amount control method | |
| CN102948284B (en) | Electrically controlled plant spacing rotation knob adjusting type corn accurate-sowing fertilization machine | |
| CN204482244U (en) | Novel potato sower | |
| CN105165199B (en) | Rice seedling supplementing machine | |
| CN103858571A (en) | Peripheral motor direct-drive device and control method of pneumatic type precise corn seed-metering device | |
| CN110651569B (en) | Ground wheel driving force monitoring system of precision planter | |
| CN109121488A (en) | A kind of integral type small coarse cereals seeder | |
| CN106647440A (en) | Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof | |
| CN111373908A (en) | Control system and method for realizing precision seeding and fertilizing by using Beidou navigation satellite system | |
| CN206371059U (en) | A kind of corn no-tillage subsoiling combined seed and fertilizer drill monitoring system | |
| US20200272153A1 (en) | Method for operating a system made up of an agricultural working vehicle and at least one working tool arranged thereon | |
| CN116671323B (en) | Intelligent fertilizing device and control method thereof | |
| CN207354848U (en) | A kind of intelligence essence amount corn seeding monomer | |
| CN212116163U (en) | Control system for realizing precise seeding and fertilizing by using Beidou navigation | |
| CN212851710U (en) | Agricultural implement operation degree of depth automatic control system and agricultural equipment | |
| CN103947367B (en) | Harvester for peanut | |
| CN206759947U (en) | A kind of powdery ridge depth survey automatic tracking system | |
| CN110012701A (en) | Intelligent row aligning device of wheat row aligning no-tillage planter | |
| CN106954389B (en) | Automatic tracking system and automatic tracking method for powder ridge depth measurement | |
| CN209930880U (en) | Synchronous control device of no-tillage combined seed and fertilizer drill |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210727 |